Analytical and Experimental Force Analysis of a Soft Linear Pneumatic Actuator
This paper presents an analytical and experimental force analysis of a linear soft sleeve actuator (LSSA) for wearable robotics. A quasi-static model was developed and validated with experiments showing force decreasing from ~112 N at zero extension to near zero at 40 mm under 125 kPa. Static loading delays and reduces force output.
Article intelligence
Key points
- A quasi-static analytical model for LSSA force generation is developed, incorporating pressure, geometry, displacement, and axial stiffness.
- Experiments show force drops from ~112 N at 0 mm to ~0 N at 40 mm extension under 125 kPa.
- Static loading delays force generation and reduces output, particularly at low to intermediate pressures.
- Axial stiffness plays a significant role in the force behavior.
Why it matters
This matters because a quasi-static analytical model for LSSA force generation is developed, incorporating pressure, geometry, displacement, and axial stiffness.
Technical impact
May affect model selection, inference cost, product capability, and evaluation benchmarks.
[2605.21836] Analytical and Experimental Force Analysis of a Soft Linear Pneumatic Actuator
[Submitted on 21 May 2026]
Title:Analytical and Experimental Force Analysis of a Soft Linear Pneumatic Actuator
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Abstract:Soft sleeve actuators (SSAs) have recently been developed as a pneumatic actuation approach for wearable and assistive robotic systems. By integrating the actuation structure into a sleeve-like geometry, these actuators can reduce reliance on external attachment layers and transmission mechanisms while maintaining compliance with limb-shaped surfaces. However, the force-generation behavior of SSAs remains insufficiently explained, particularly with respect to the variation of output force during extension, the influence of external loading, and the mechanical role of axial stiffness. This paper presents an analytical and experimental force analysis of a linear soft sleeve actuator (LSSA). A quasi-static analytical model was developed by expressing the net axial force as the pressure-generated contribution from the cap and folded walls, reduced by the force associated with axial stiffness. The model incorporates internal pressure, projected pressure areas, folded wall geometry, axial displacement, and an experimentally fitted axial stiffness relation. Prescribed-extension and static-load experiments were conducted to evaluate the actuator response. At 125 kPa, the generated force decreased from approximately 112 N at zero extension to nearly zero at 40 mm. Static loading delayed measurable force generation and reduced force output, particularly at low and intermediate pressures. The results show that LSSA force generation is governed by coupled effects of pressure, geometry, displacement, loading, and axial stiffness.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.21836 [cs.RO]
(or arXiv:2605.21836v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.21836
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Mohammed Abboodi [view email] [v1] Thu, 21 May 2026 00:00:03 UTC (572 KB)
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